At critical points along the equilibrium path, sudden and sometimes catastrophic changes in the structural behaviour are observed. The equilibrium path, load-bearing capacity and locations of critical points can be sensitive to variations in parameters, such as geometrical imperfections, multi-parameter loadings, temperature and material properties. This paper introduces an incremental-iterative procedure to directly calculate the critical load for parameterized elastic structures. A modified Newton's method is proposed to simultaneously set the residual force and the minimum eigenvalue of the tangent stiffness matrix to zero by using an iterative algorithm. To demonstrate the performance of this method, numerical examples are presented.